On Transferability of grasp-affordances in data-driven grasping

Jimmy Alison Rytz, Lars-Peter Ellekilde, Dirk Kraft, Henrik Gordon Petersen, Norbert Krüger

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It has become a common practice to use simulation to generate large databases
of good grasps for grasp planning in robotics research. However, the existence of a generic simulation context that enables generation of high quality grasps that can be used in several different contexts such as bin-picking or picking objects from a table, has to our knowledge not been discussed in the literature. In this paper we investigate how well the quality of grasps simulated in a commonly used ”generic” context transfer to a specific context where the object is placed on a table. We generate a large database of grasp hypothesis for several objects, which we then evaluate in different dynamic simulation contexts eg. free float (no gravity, no obstacles), standing on table and lying on table. We present a comparison on the intersection of the grasp outcome space across the different contexts and quantitatively show that to generate reliable grasp databases, it is often required to use context specific simulation.
Original languageEnglish
Title of host publicationProceedings of the RAAD 2013
Number of pages9
Publication date11. Aug 2013
Publication statusPublished - 11. Aug 2013
Event22nd International Workshop on Robotics in Alpe-Adria-Danube Region - Portorož, Slovenia
Duration: 11. Sept 201313. Sept 2013


Workshop22nd International Workshop on Robotics in Alpe-Adria-Danube Region


  • Robotic Grasping
  • Grasp-affordances
  • Dynamic Simulation
  • Data-driven grasping


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